amiro-lld / include / VL53L0X / v1 / Api_vl53l0x / core / src / vl53l0x_api.c @ 6ebebd4d
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/*******************************************************************************
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Copyright � 2016, STMicroelectronics International N.V.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of STMicroelectronics nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#include "vl53l0x_api.h" |
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#include "vl53l0x_tuning.h" |
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#include "vl53l0x_interrupt_threshold_settings.h" |
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#include "vl53l0x_api_core.h" |
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#include "vl53l0x_api_calibration.h" |
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#include "vl53l0x_api_strings.h" |
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//debugging
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#include <aos_thread.h> |
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#ifndef __KERNEL__
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#include <stdlib.h> |
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#endif
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#define LOG_FUNCTION_START(fmt, ...) \
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_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END(status, ...) \
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_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) |
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#ifdef VL53L0X_LOG_ENABLE
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#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
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level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
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#endif
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/* Group PAL General Functions */
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VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR; |
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pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR; |
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pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB; |
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pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR; |
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pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR; |
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pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB; |
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pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, |
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uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t revision_id; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID, |
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&revision_id); |
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*pProductRevisionMajor = 1;
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*pProductRevisionMinor = (revision_id & 0xF0) >> 4; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, |
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VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, |
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VL53L0X_DeviceError *pDeviceErrorStatus) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t RangeStatus; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
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&RangeStatus); |
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*pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode, |
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char *pDeviceErrorString)
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, |
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char *pRangeStatusString)
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_range_status_string(RangeStatus, |
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pRangeStatusString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, |
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char *pPalErrorString)
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, |
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char *pPalStateString)
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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*pPalState = PALDevDataGet(Dev, PalState); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes PowerMode) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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/* Only level1 of Power mode exists */
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if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1)
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&& (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) { |
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Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
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} else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) { |
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/* set the standby level1 of power mode */
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Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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if (Status == VL53L0X_ERROR_NONE) {
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/* Set PAL State to standby */
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PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY); |
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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} |
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} else {
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/* VL53L0X_POWERMODE_IDLE_LEVEL1 */
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Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_StaticInit(Dev); |
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if (Status == VL53L0X_ERROR_NONE)
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_IDLE_LEVEL1); |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes *pPowerMode) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t Byte; |
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LOG_FUNCTION_START("");
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/* Only level1 of Power mode exists */
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Status = VL53L0X_RdByte(Dev, 0x80, &Byte);
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if (Status == VL53L0X_ERROR_NONE) {
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if (Byte == 1) { |
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_IDLE_LEVEL1); |
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} else {
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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} |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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int32_t OffsetCalibrationDataMicroMeter) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, |
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OffsetCalibrationDataMicroMeter); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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int32_t *pOffsetCalibrationDataMicroMeter) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, |
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pOffsetCalibrationDataMicroMeter); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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int16_t LinearityCorrectiveGain) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) |
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Status = VL53L0X_ERROR_INVALID_PARAMS; |
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else {
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PALDevDataSet(Dev, LinearityCorrectiveGain, |
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LinearityCorrectiveGain); |
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if (LinearityCorrectiveGain != 1000) { |
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/* Disable FW Xtalk */
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Status = VL53L0X_WrWord(Dev, |
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VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0);
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} |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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uint16_t *pLinearityCorrectiveGain) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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*pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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LOG_FUNCTION_START("");
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/* not implemented on VL53L0X */
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, |
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uint16_t *pUpperLimitMilliMeter) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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LOG_FUNCTION_START("");
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/* not implemented on VL53L0X */
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, |
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FixPoint1616_t *pTotalSignalRate) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
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LOG_FUNCTION_START("");
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LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
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Status = VL53L0X_get_total_signal_rate( |
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Dev, &LastRangeDataBuffer, pTotalSignalRate); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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/* End Group PAL General Functions */
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/* Group PAL Init Functions */
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VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, |
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DeviceAddress); // changed to not DeviceAddress/2
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//added
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Dev->I2cDevAddr = DeviceAddress; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev) |
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{ |
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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VL53L0X_DeviceParameters_t CurrentParameters; |
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int i;
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uint8_t StopVariable; |
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LOG_FUNCTION_START("");
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/* by default the I2C is running at 1V8 if you want to change it you
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* need to include this define at compilation level. */
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#ifdef USE_I2C_2V8
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Status = VL53L0X_UpdateByte(Dev, |
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VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, |
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0xFE,
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0x01);
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#endif
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/* Set I2C standard mode */
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_WrByte(Dev, 0x88, 0x00); |
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VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
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#ifdef USE_IQC_STATION
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_apply_offset_adjustment(Dev); |
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#endif
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/* Default value is 1000 for Linearity Corrective Gain */
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PALDevDataSet(Dev, LinearityCorrectiveGain, 1000);
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|
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/* Dmax default Parameter */
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PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
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PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
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(FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ |
417 |
|
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/* Set Default static parameters
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*set first temporary values 9.44MHz * 65536 = 618660 */
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420 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660);
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/* Set Default XTalkCompensationRateMegaCps to 0 */
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VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0);
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424 |
|
425 |
/* Get default parameters */
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Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
427 |
if (Status == VL53L0X_ERROR_NONE) {
|
428 |
/* initialize PAL values */
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429 |
CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; |
430 |
CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; |
431 |
PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
432 |
} |
433 |
|
434 |
/* Sigma estimator variable */
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435 |
PALDevDataSet(Dev, SigmaEstRefArray, 100);
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436 |
PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900);
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437 |
PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500);
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438 |
PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ |
439 |
|
440 |
/* Use internal default settings */
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441 |
PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
442 |
|
443 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
444 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
445 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
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Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
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PALDevDataSet(Dev, StopVariable, StopVariable); |
448 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
449 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
450 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
451 |
|
452 |
/* Enable all check */
|
453 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
454 |
if (Status == VL53L0X_ERROR_NONE)
|
455 |
Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
|
456 |
else
|
457 |
break;
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458 |
|
459 |
} |
460 |
|
461 |
/* Disable the following checks */
|
462 |
if (Status == VL53L0X_ERROR_NONE)
|
463 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
464 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
|
465 |
|
466 |
if (Status == VL53L0X_ERROR_NONE)
|
467 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
468 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
|
469 |
|
470 |
if (Status == VL53L0X_ERROR_NONE)
|
471 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
472 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
|
473 |
|
474 |
if (Status == VL53L0X_ERROR_NONE)
|
475 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
476 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
|
477 |
|
478 |
/* Limit default values */
|
479 |
if (Status == VL53L0X_ERROR_NONE) {
|
480 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
481 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
482 |
(FixPoint1616_t)(18 * 65536)); |
483 |
} |
484 |
if (Status == VL53L0X_ERROR_NONE) {
|
485 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
486 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
487 |
(FixPoint1616_t)(25 * 65536 / 100)); |
488 |
/* 0.25 * 65536 */
|
489 |
} |
490 |
|
491 |
if (Status == VL53L0X_ERROR_NONE) {
|
492 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
493 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
494 |
(FixPoint1616_t)(35 * 65536)); |
495 |
} |
496 |
|
497 |
if (Status == VL53L0X_ERROR_NONE) {
|
498 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
499 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
500 |
(FixPoint1616_t)(0 * 65536)); |
501 |
} |
502 |
|
503 |
if (Status == VL53L0X_ERROR_NONE) {
|
504 |
|
505 |
PALDevDataSet(Dev, SequenceConfig, 0xFF);
|
506 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
507 |
0xFF);
|
508 |
|
509 |
/* Set PAL state to tell that we are waiting for call to
|
510 |
* VL53L0X_StaticInit */
|
511 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); |
512 |
} |
513 |
|
514 |
if (Status == VL53L0X_ERROR_NONE)
|
515 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0);
|
516 |
|
517 |
|
518 |
LOG_FUNCTION_END(Status); |
519 |
return Status;
|
520 |
} |
521 |
|
522 |
VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, |
523 |
uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) |
524 |
{ |
525 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
526 |
|
527 |
LOG_FUNCTION_START("");
|
528 |
|
529 |
if (UseInternalTuningSettings == 1) { |
530 |
/* Force use internal settings */
|
531 |
PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
532 |
} else {
|
533 |
|
534 |
/* check that the first byte is not 0 */
|
535 |
if (*pTuningSettingBuffer != 0) { |
536 |
PALDevDataSet(Dev, pTuningSettingsPointer, |
537 |
pTuningSettingBuffer); |
538 |
PALDevDataSet(Dev, UseInternalTuningSettings, 0);
|
539 |
|
540 |
} else {
|
541 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
542 |
} |
543 |
} |
544 |
|
545 |
LOG_FUNCTION_END(Status); |
546 |
return Status;
|
547 |
} |
548 |
|
549 |
VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, |
550 |
uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) |
551 |
{ |
552 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
553 |
|
554 |
LOG_FUNCTION_START("");
|
555 |
|
556 |
*ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); |
557 |
*pUseInternalTuningSettings = PALDevDataGet(Dev, |
558 |
UseInternalTuningSettings); |
559 |
|
560 |
LOG_FUNCTION_END(Status); |
561 |
return Status;
|
562 |
} |
563 |
|
564 |
VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev) |
565 |
{ |
566 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
567 |
VL53L0X_DeviceParameters_t CurrentParameters = {0};
|
568 |
uint8_t *pTuningSettingBuffer; |
569 |
uint16_t tempword = 0;
|
570 |
uint8_t tempbyte = 0;
|
571 |
uint8_t UseInternalTuningSettings = 0;
|
572 |
uint32_t count = 0;
|
573 |
uint8_t isApertureSpads = 0;
|
574 |
uint32_t refSpadCount = 0;
|
575 |
uint8_t ApertureSpads = 0;
|
576 |
uint8_t vcselPulsePeriodPCLK; |
577 |
uint32_t seqTimeoutMicroSecs; |
578 |
|
579 |
LOG_FUNCTION_START("");
|
580 |
|
581 |
Status = VL53L0X_get_info_from_device(Dev, 1);
|
582 |
|
583 |
/* set the ref spad from NVM */
|
584 |
count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
585 |
ReferenceSpadCount); |
586 |
ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
587 |
ReferenceSpadType); |
588 |
|
589 |
/* NVM value invalid */
|
590 |
if ((ApertureSpads > 1) || |
591 |
((ApertureSpads == 1) && (count > 32)) || |
592 |
((ApertureSpads == 0) && (count > 12))) |
593 |
Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, |
594 |
&isApertureSpads); |
595 |
else
|
596 |
Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); |
597 |
|
598 |
|
599 |
/* Initialize tuning settings buffer to prevent compiler warning. */
|
600 |
pTuningSettingBuffer = DefaultTuningSettings; |
601 |
|
602 |
if (Status == VL53L0X_ERROR_NONE) {
|
603 |
UseInternalTuningSettings = PALDevDataGet(Dev, |
604 |
UseInternalTuningSettings); |
605 |
|
606 |
if (UseInternalTuningSettings == 0) |
607 |
pTuningSettingBuffer = PALDevDataGet(Dev, |
608 |
pTuningSettingsPointer); |
609 |
else
|
610 |
pTuningSettingBuffer = DefaultTuningSettings; |
611 |
|
612 |
} |
613 |
|
614 |
if (Status == VL53L0X_ERROR_NONE)
|
615 |
Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer); |
616 |
|
617 |
|
618 |
/* Set interrupt config to new sample ready */
|
619 |
if (Status == VL53L0X_ERROR_NONE) {
|
620 |
Status = VL53L0X_SetGpioConfig(Dev, 0, 0, |
621 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
622 |
VL53L0X_INTERRUPTPOLARITY_LOW); |
623 |
} |
624 |
|
625 |
if (Status == VL53L0X_ERROR_NONE) {
|
626 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
627 |
Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
|
628 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
629 |
} |
630 |
|
631 |
if (Status == VL53L0X_ERROR_NONE) {
|
632 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, |
633 |
VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); |
634 |
} |
635 |
|
636 |
/* After static init, some device parameters may be changed,
|
637 |
* so update them */
|
638 |
if (Status == VL53L0X_ERROR_NONE)
|
639 |
Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
640 |
|
641 |
|
642 |
if (Status == VL53L0X_ERROR_NONE) {
|
643 |
Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); |
644 |
if (Status == VL53L0X_ERROR_NONE)
|
645 |
PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); |
646 |
|
647 |
} |
648 |
|
649 |
if (Status == VL53L0X_ERROR_NONE)
|
650 |
PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
651 |
|
652 |
|
653 |
/* read the sequence config and save it */
|
654 |
if (Status == VL53L0X_ERROR_NONE) {
|
655 |
Status = VL53L0X_RdByte(Dev, |
656 |
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); |
657 |
if (Status == VL53L0X_ERROR_NONE)
|
658 |
PALDevDataSet(Dev, SequenceConfig, tempbyte); |
659 |
|
660 |
} |
661 |
|
662 |
/* Disable MSRC and TCC by default */
|
663 |
if (Status == VL53L0X_ERROR_NONE)
|
664 |
Status = VL53L0X_SetSequenceStepEnable(Dev, |
665 |
VL53L0X_SEQUENCESTEP_TCC, 0);
|
666 |
|
667 |
|
668 |
if (Status == VL53L0X_ERROR_NONE)
|
669 |
Status = VL53L0X_SetSequenceStepEnable(Dev, |
670 |
VL53L0X_SEQUENCESTEP_MSRC, 0);
|
671 |
|
672 |
|
673 |
/* Set PAL State to standby */
|
674 |
if (Status == VL53L0X_ERROR_NONE)
|
675 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
676 |
|
677 |
|
678 |
|
679 |
/* Store pre-range vcsel period */
|
680 |
if (Status == VL53L0X_ERROR_NONE) {
|
681 |
Status = VL53L0X_GetVcselPulsePeriod( |
682 |
Dev, |
683 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
684 |
&vcselPulsePeriodPCLK); |
685 |
} |
686 |
|
687 |
if (Status == VL53L0X_ERROR_NONE) {
|
688 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
689 |
Dev, |
690 |
PreRangeVcselPulsePeriod, |
691 |
vcselPulsePeriodPCLK); |
692 |
} |
693 |
|
694 |
/* Store final-range vcsel period */
|
695 |
if (Status == VL53L0X_ERROR_NONE) {
|
696 |
Status = VL53L0X_GetVcselPulsePeriod( |
697 |
Dev, |
698 |
VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
699 |
&vcselPulsePeriodPCLK); |
700 |
} |
701 |
|
702 |
if (Status == VL53L0X_ERROR_NONE) {
|
703 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
704 |
Dev, |
705 |
FinalRangeVcselPulsePeriod, |
706 |
vcselPulsePeriodPCLK); |
707 |
} |
708 |
|
709 |
/* Store pre-range timeout */
|
710 |
if (Status == VL53L0X_ERROR_NONE) {
|
711 |
Status = get_sequence_step_timeout( |
712 |
Dev, |
713 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
714 |
&seqTimeoutMicroSecs); |
715 |
} |
716 |
|
717 |
if (Status == VL53L0X_ERROR_NONE) {
|
718 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
719 |
Dev, |
720 |
PreRangeTimeoutMicroSecs, |
721 |
seqTimeoutMicroSecs); |
722 |
} |
723 |
|
724 |
/* Store final-range timeout */
|
725 |
if (Status == VL53L0X_ERROR_NONE) {
|
726 |
Status = get_sequence_step_timeout( |
727 |
Dev, |
728 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
729 |
&seqTimeoutMicroSecs); |
730 |
} |
731 |
|
732 |
if (Status == VL53L0X_ERROR_NONE) {
|
733 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
734 |
Dev, |
735 |
FinalRangeTimeoutMicroSecs, |
736 |
seqTimeoutMicroSecs); |
737 |
} |
738 |
|
739 |
LOG_FUNCTION_END(Status); |
740 |
return Status;
|
741 |
} |
742 |
|
743 |
VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) |
744 |
{ |
745 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
746 |
LOG_FUNCTION_START("");
|
747 |
|
748 |
/* not implemented on VL53L0X */
|
749 |
|
750 |
LOG_FUNCTION_END(Status); |
751 |
return Status;
|
752 |
} |
753 |
|
754 |
VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev) |
755 |
{ |
756 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
757 |
uint8_t Byte; |
758 |
LOG_FUNCTION_START("");
|
759 |
|
760 |
/* Set reset bit */
|
761 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
762 |
0x00);
|
763 |
|
764 |
/* Wait for some time */
|
765 |
if (Status == VL53L0X_ERROR_NONE) {
|
766 |
do {
|
767 |
Status = VL53L0X_RdByte(Dev, |
768 |
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
769 |
} while (Byte != 0x00); |
770 |
} |
771 |
|
772 |
//VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
773 |
|
774 |
/* Release reset */
|
775 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
776 |
0x01);
|
777 |
|
778 |
/* Wait until correct boot-up of the device */
|
779 |
if (Status == VL53L0X_ERROR_NONE) {
|
780 |
do {
|
781 |
Status = VL53L0X_RdByte(Dev, |
782 |
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
783 |
} while (Byte == 0x00); |
784 |
} |
785 |
|
786 |
//VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
787 |
|
788 |
/* Set PAL State to VL53L0X_STATE_POWERDOWN */
|
789 |
if (Status == VL53L0X_ERROR_NONE)
|
790 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN); |
791 |
|
792 |
|
793 |
LOG_FUNCTION_END(Status); |
794 |
return Status;
|
795 |
} |
796 |
/* End Group PAL Init Functions */
|
797 |
|
798 |
/* Group PAL Parameters Functions */
|
799 |
VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, |
800 |
const VL53L0X_DeviceParameters_t *pDeviceParameters)
|
801 |
{ |
802 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
803 |
int i;
|
804 |
LOG_FUNCTION_START("");
|
805 |
Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); |
806 |
|
807 |
if (Status == VL53L0X_ERROR_NONE)
|
808 |
Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev, |
809 |
pDeviceParameters->InterMeasurementPeriodMilliSeconds); |
810 |
|
811 |
|
812 |
if (Status == VL53L0X_ERROR_NONE)
|
813 |
Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, |
814 |
pDeviceParameters->XTalkCompensationRateMegaCps); |
815 |
|
816 |
|
817 |
if (Status == VL53L0X_ERROR_NONE)
|
818 |
Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, |
819 |
pDeviceParameters->RangeOffsetMicroMeters); |
820 |
|
821 |
|
822 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
823 |
if (Status == VL53L0X_ERROR_NONE)
|
824 |
Status |= VL53L0X_SetLimitCheckEnable(Dev, i, |
825 |
pDeviceParameters->LimitChecksEnable[i]); |
826 |
else
|
827 |
break;
|
828 |
|
829 |
if (Status == VL53L0X_ERROR_NONE)
|
830 |
Status |= VL53L0X_SetLimitCheckValue(Dev, i, |
831 |
pDeviceParameters->LimitChecksValue[i]); |
832 |
else
|
833 |
break;
|
834 |
|
835 |
} |
836 |
|
837 |
if (Status == VL53L0X_ERROR_NONE)
|
838 |
Status = VL53L0X_SetWrapAroundCheckEnable(Dev, |
839 |
pDeviceParameters->WrapAroundCheckEnable); |
840 |
|
841 |
if (Status == VL53L0X_ERROR_NONE)
|
842 |
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
843 |
pDeviceParameters->MeasurementTimingBudgetMicroSeconds); |
844 |
|
845 |
|
846 |
LOG_FUNCTION_END(Status); |
847 |
return Status;
|
848 |
} |
849 |
|
850 |
VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, |
851 |
VL53L0X_DeviceParameters_t *pDeviceParameters) |
852 |
{ |
853 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
854 |
int i;
|
855 |
|
856 |
LOG_FUNCTION_START("");
|
857 |
|
858 |
Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); |
859 |
|
860 |
if (Status == VL53L0X_ERROR_NONE)
|
861 |
Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, |
862 |
&(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); |
863 |
|
864 |
|
865 |
if (Status == VL53L0X_ERROR_NONE)
|
866 |
pDeviceParameters->XTalkCompensationEnable = 0;
|
867 |
|
868 |
if (Status == VL53L0X_ERROR_NONE)
|
869 |
Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, |
870 |
&(pDeviceParameters->XTalkCompensationRateMegaCps)); |
871 |
|
872 |
|
873 |
if (Status == VL53L0X_ERROR_NONE)
|
874 |
Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, |
875 |
&(pDeviceParameters->RangeOffsetMicroMeters)); |
876 |
|
877 |
|
878 |
if (Status == VL53L0X_ERROR_NONE) {
|
879 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
880 |
/* get first the values, then the enables.
|
881 |
* VL53L0X_GetLimitCheckValue will modify the enable
|
882 |
* flags
|
883 |
*/
|
884 |
if (Status == VL53L0X_ERROR_NONE) {
|
885 |
Status |= VL53L0X_GetLimitCheckValue(Dev, i, |
886 |
&(pDeviceParameters->LimitChecksValue[i])); |
887 |
} else {
|
888 |
break;
|
889 |
} |
890 |
if (Status == VL53L0X_ERROR_NONE) {
|
891 |
Status |= VL53L0X_GetLimitCheckEnable(Dev, i, |
892 |
&(pDeviceParameters->LimitChecksEnable[i])); |
893 |
} else {
|
894 |
break;
|
895 |
} |
896 |
} |
897 |
} |
898 |
|
899 |
if (Status == VL53L0X_ERROR_NONE) {
|
900 |
Status = VL53L0X_GetWrapAroundCheckEnable(Dev, |
901 |
&(pDeviceParameters->WrapAroundCheckEnable)); |
902 |
} |
903 |
|
904 |
/* Need to be done at the end as it uses VCSELPulsePeriod */
|
905 |
if (Status == VL53L0X_ERROR_NONE) {
|
906 |
Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, |
907 |
&(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); |
908 |
} |
909 |
|
910 |
LOG_FUNCTION_END(Status); |
911 |
return Status;
|
912 |
} |
913 |
|
914 |
VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode) |
915 |
{ |
916 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
917 |
|
918 |
LOG_FUNCTION_START("%d", (int)DeviceMode); |
919 |
|
920 |
switch (DeviceMode) {
|
921 |
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
922 |
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
923 |
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
924 |
case VL53L0X_DEVICEMODE_GPIO_DRIVE:
|
925 |
case VL53L0X_DEVICEMODE_GPIO_OSC:
|
926 |
/* Supported modes */
|
927 |
VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); |
928 |
break;
|
929 |
default:
|
930 |
/* Unsupported mode */
|
931 |
Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
932 |
} |
933 |
|
934 |
LOG_FUNCTION_END(Status); |
935 |
return Status;
|
936 |
} |
937 |
|
938 |
VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, |
939 |
VL53L0X_DeviceModes *pDeviceMode) |
940 |
{ |
941 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
942 |
LOG_FUNCTION_START("");
|
943 |
|
944 |
VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); |
945 |
|
946 |
LOG_FUNCTION_END(Status); |
947 |
return Status;
|
948 |
} |
949 |
|
950 |
VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, uint8_t Enable) |
951 |
{ |
952 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
953 |
|
954 |
LOG_FUNCTION_START("%d", (int)Enable); |
955 |
|
956 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable); |
957 |
|
958 |
if (Status == VL53L0X_ERROR_NONE)
|
959 |
PALDevDataSet(Dev, RangeFractionalEnable, Enable); |
960 |
|
961 |
LOG_FUNCTION_END(Status); |
962 |
return Status;
|
963 |
} |
964 |
|
965 |
VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) |
966 |
{ |
967 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
968 |
LOG_FUNCTION_START("");
|
969 |
|
970 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); |
971 |
|
972 |
if (Status == VL53L0X_ERROR_NONE)
|
973 |
*pEnabled = (*pEnabled & 1);
|
974 |
|
975 |
LOG_FUNCTION_END(Status); |
976 |
return Status;
|
977 |
} |
978 |
|
979 |
VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, |
980 |
VL53L0X_HistogramModes HistogramMode) |
981 |
{ |
982 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
983 |
LOG_FUNCTION_START("");
|
984 |
|
985 |
/* not implemented on VL53L0X */
|
986 |
|
987 |
LOG_FUNCTION_END(Status); |
988 |
return Status;
|
989 |
} |
990 |
|
991 |
VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, |
992 |
VL53L0X_HistogramModes *pHistogramMode) |
993 |
{ |
994 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
995 |
LOG_FUNCTION_START("");
|
996 |
|
997 |
/* not implemented on VL53L0X */
|
998 |
|
999 |
LOG_FUNCTION_END(Status); |
1000 |
return Status;
|
1001 |
} |
1002 |
|
1003 |
VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
1004 |
uint32_t MeasurementTimingBudgetMicroSeconds) |
1005 |
{ |
1006 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1007 |
LOG_FUNCTION_START("");
|
1008 |
|
1009 |
Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, |
1010 |
MeasurementTimingBudgetMicroSeconds); |
1011 |
|
1012 |
LOG_FUNCTION_END(Status); |
1013 |
|
1014 |
return Status;
|
1015 |
} |
1016 |
|
1017 |
VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
1018 |
uint32_t *pMeasurementTimingBudgetMicroSeconds) |
1019 |
{ |
1020 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1021 |
LOG_FUNCTION_START("");
|
1022 |
|
1023 |
Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, |
1024 |
pMeasurementTimingBudgetMicroSeconds); |
1025 |
|
1026 |
LOG_FUNCTION_END(Status); |
1027 |
return Status;
|
1028 |
} |
1029 |
|
1030 |
VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, |
1031 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
1032 |
{ |
1033 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1034 |
LOG_FUNCTION_START("");
|
1035 |
|
1036 |
Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, |
1037 |
VCSELPulsePeriodPCLK); |
1038 |
|
1039 |
LOG_FUNCTION_END(Status); |
1040 |
return Status;
|
1041 |
} |
1042 |
|
1043 |
VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, |
1044 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
1045 |
{ |
1046 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1047 |
LOG_FUNCTION_START("");
|
1048 |
|
1049 |
Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, |
1050 |
pVCSELPulsePeriodPCLK); |
1051 |
|
1052 |
LOG_FUNCTION_END(Status); |
1053 |
return Status;
|
1054 |
} |
1055 |
|
1056 |
VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, |
1057 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
1058 |
{ |
1059 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1060 |
uint8_t SequenceConfig = 0;
|
1061 |
uint8_t SequenceConfigNew = 0;
|
1062 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
1063 |
LOG_FUNCTION_START("");
|
1064 |
|
1065 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
1066 |
&SequenceConfig); |
1067 |
|
1068 |
SequenceConfigNew = SequenceConfig; |
1069 |
|
1070 |
if (Status == VL53L0X_ERROR_NONE) {
|
1071 |
if (SequenceStepEnabled == 1) { |
1072 |
|
1073 |
/* Enable requested sequence step
|
1074 |
*/
|
1075 |
switch (SequenceStepId) {
|
1076 |
case VL53L0X_SEQUENCESTEP_TCC:
|
1077 |
SequenceConfigNew |= 0x10;
|
1078 |
break;
|
1079 |
case VL53L0X_SEQUENCESTEP_DSS:
|
1080 |
SequenceConfigNew |= 0x28;
|
1081 |
break;
|
1082 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
1083 |
SequenceConfigNew |= 0x04;
|
1084 |
break;
|
1085 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
1086 |
SequenceConfigNew |= 0x40;
|
1087 |
break;
|
1088 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
1089 |
SequenceConfigNew |= 0x80;
|
1090 |
break;
|
1091 |
default:
|
1092 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1093 |
} |
1094 |
} else {
|
1095 |
/* Disable requested sequence step
|
1096 |
*/
|
1097 |
switch (SequenceStepId) {
|
1098 |
case VL53L0X_SEQUENCESTEP_TCC:
|
1099 |
SequenceConfigNew &= 0xef;
|
1100 |
break;
|
1101 |
case VL53L0X_SEQUENCESTEP_DSS:
|
1102 |
SequenceConfigNew &= 0xd7;
|
1103 |
break;
|
1104 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
1105 |
SequenceConfigNew &= 0xfb;
|
1106 |
break;
|
1107 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
1108 |
SequenceConfigNew &= 0xbf;
|
1109 |
break;
|
1110 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
1111 |
SequenceConfigNew &= 0x7f;
|
1112 |
break;
|
1113 |
default:
|
1114 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1115 |
} |
1116 |
} |
1117 |
} |
1118 |
|
1119 |
if (SequenceConfigNew != SequenceConfig) {
|
1120 |
/* Apply New Setting */
|
1121 |
if (Status == VL53L0X_ERROR_NONE) {
|
1122 |
Status = VL53L0X_WrByte(Dev, |
1123 |
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); |
1124 |
} |
1125 |
if (Status == VL53L0X_ERROR_NONE)
|
1126 |
PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); |
1127 |
|
1128 |
|
1129 |
/* Recalculate timing budget */
|
1130 |
if (Status == VL53L0X_ERROR_NONE) {
|
1131 |
VL53L0X_GETPARAMETERFIELD(Dev, |
1132 |
MeasurementTimingBudgetMicroSeconds, |
1133 |
MeasurementTimingBudgetMicroSeconds); |
1134 |
|
1135 |
VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
1136 |
MeasurementTimingBudgetMicroSeconds); |
1137 |
} |
1138 |
} |
1139 |
|
1140 |
LOG_FUNCTION_END(Status); |
1141 |
|
1142 |
return Status;
|
1143 |
} |
1144 |
|
1145 |
VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev, |
1146 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, |
1147 |
uint8_t *pSequenceStepEnabled) |
1148 |
{ |
1149 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1150 |
*pSequenceStepEnabled = 0;
|
1151 |
LOG_FUNCTION_START("");
|
1152 |
|
1153 |
switch (SequenceStepId) {
|
1154 |
case VL53L0X_SEQUENCESTEP_TCC:
|
1155 |
*pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; |
1156 |
break;
|
1157 |
case VL53L0X_SEQUENCESTEP_DSS:
|
1158 |
*pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; |
1159 |
break;
|
1160 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
1161 |
*pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; |
1162 |
break;
|
1163 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
1164 |
*pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; |
1165 |
break;
|
1166 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
1167 |
*pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; |
1168 |
break;
|
1169 |
default:
|
1170 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1171 |
} |
1172 |
|
1173 |
LOG_FUNCTION_END(Status); |
1174 |
return Status;
|
1175 |
} |
1176 |
|
1177 |
VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, |
1178 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) |
1179 |
{ |
1180 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1181 |
uint8_t SequenceConfig = 0;
|
1182 |
LOG_FUNCTION_START("");
|
1183 |
|
1184 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
1185 |
&SequenceConfig); |
1186 |
|
1187 |
if (Status == VL53L0X_ERROR_NONE) {
|
1188 |
Status = sequence_step_enabled(Dev, SequenceStepId, |
1189 |
SequenceConfig, pSequenceStepEnabled); |
1190 |
} |
1191 |
|
1192 |
LOG_FUNCTION_END(Status); |
1193 |
return Status;
|
1194 |
} |
1195 |
|
1196 |
VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, |
1197 |
VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) |
1198 |
{ |
1199 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1200 |
uint8_t SequenceConfig = 0;
|
1201 |
LOG_FUNCTION_START("");
|
1202 |
|
1203 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
1204 |
&SequenceConfig); |
1205 |
|
1206 |
if (Status == VL53L0X_ERROR_NONE) {
|
1207 |
Status = sequence_step_enabled(Dev, |
1208 |
VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, |
1209 |
&pSchedulerSequenceSteps->TccOn); |
1210 |
} |
1211 |
if (Status == VL53L0X_ERROR_NONE) {
|
1212 |
Status = sequence_step_enabled(Dev, |
1213 |
VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, |
1214 |
&pSchedulerSequenceSteps->DssOn); |
1215 |
} |
1216 |
if (Status == VL53L0X_ERROR_NONE) {
|
1217 |
Status = sequence_step_enabled(Dev, |
1218 |
VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, |
1219 |
&pSchedulerSequenceSteps->MsrcOn); |
1220 |
} |
1221 |
if (Status == VL53L0X_ERROR_NONE) {
|
1222 |
Status = sequence_step_enabled(Dev, |
1223 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, |
1224 |
&pSchedulerSequenceSteps->PreRangeOn); |
1225 |
} |
1226 |
if (Status == VL53L0X_ERROR_NONE) {
|
1227 |
Status = sequence_step_enabled(Dev, |
1228 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, |
1229 |
&pSchedulerSequenceSteps->FinalRangeOn); |
1230 |
} |
1231 |
|
1232 |
LOG_FUNCTION_END(Status); |
1233 |
return Status;
|
1234 |
} |
1235 |
|
1236 |
VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, |
1237 |
uint8_t *pNumberOfSequenceSteps) |
1238 |
{ |
1239 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1240 |
LOG_FUNCTION_START("");
|
1241 |
|
1242 |
*pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS; |
1243 |
|
1244 |
LOG_FUNCTION_END(Status); |
1245 |
return Status;
|
1246 |
} |
1247 |
|
1248 |
VL53L0X_Error VL53L0X_GetSequenceStepsInfo(VL53L0X_SequenceStepId SequenceStepId, |
1249 |
char *pSequenceStepsString)
|
1250 |
{ |
1251 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1252 |
LOG_FUNCTION_START("");
|
1253 |
|
1254 |
Status = VL53L0X_get_sequence_steps_info( |
1255 |
SequenceStepId, |
1256 |
pSequenceStepsString); |
1257 |
|
1258 |
LOG_FUNCTION_END(Status); |
1259 |
|
1260 |
return Status;
|
1261 |
} |
1262 |
|
1263 |
VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, |
1264 |
VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) |
1265 |
{ |
1266 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1267 |
VL53L0X_Error Status1 = VL53L0X_ERROR_NONE; |
1268 |
uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) |
1269 |
>> 16;
|
1270 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
1271 |
FixPoint1616_t OldTimeOutMicroSeconds; |
1272 |
|
1273 |
LOG_FUNCTION_START("");
|
1274 |
|
1275 |
/* Read back the current value in case we need to revert back to this.
|
1276 |
*/
|
1277 |
Status = get_sequence_step_timeout(Dev, SequenceStepId, |
1278 |
&OldTimeOutMicroSeconds); |
1279 |
|
1280 |
if (Status == VL53L0X_ERROR_NONE) {
|
1281 |
Status = set_sequence_step_timeout(Dev, SequenceStepId, |
1282 |
TimeoutMicroSeconds); |
1283 |
} |
1284 |
|
1285 |
if (Status == VL53L0X_ERROR_NONE) {
|
1286 |
VL53L0X_GETPARAMETERFIELD(Dev, |
1287 |
MeasurementTimingBudgetMicroSeconds, |
1288 |
MeasurementTimingBudgetMicroSeconds); |
1289 |
|
1290 |
/* At this point we don't know if the requested value is valid,
|
1291 |
therefore proceed to update the entire timing budget and
|
1292 |
if this fails, revert back to the previous value.
|
1293 |
*/
|
1294 |
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
1295 |
MeasurementTimingBudgetMicroSeconds); |
1296 |
|
1297 |
if (Status != VL53L0X_ERROR_NONE) {
|
1298 |
Status1 = set_sequence_step_timeout(Dev, SequenceStepId, |
1299 |
OldTimeOutMicroSeconds); |
1300 |
|
1301 |
if (Status1 == VL53L0X_ERROR_NONE) {
|
1302 |
Status1 = |
1303 |
VL53L0X_SetMeasurementTimingBudgetMicroSeconds( |
1304 |
Dev, |
1305 |
MeasurementTimingBudgetMicroSeconds); |
1306 |
} |
1307 |
|
1308 |
Status = Status1; |
1309 |
} |
1310 |
} |
1311 |
|
1312 |
LOG_FUNCTION_END(Status); |
1313 |
|
1314 |
return Status;
|
1315 |
} |
1316 |
|
1317 |
VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, |
1318 |
VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs) |
1319 |
{ |
1320 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1321 |
uint32_t TimeoutMicroSeconds; |
1322 |
LOG_FUNCTION_START("");
|
1323 |
|
1324 |
Status = get_sequence_step_timeout(Dev, SequenceStepId, |
1325 |
&TimeoutMicroSeconds); |
1326 |
if (Status == VL53L0X_ERROR_NONE) {
|
1327 |
TimeoutMicroSeconds <<= 8;
|
1328 |
*pTimeOutMilliSecs = (TimeoutMicroSeconds + 500)/1000; |
1329 |
*pTimeOutMilliSecs <<= 8;
|
1330 |
} |
1331 |
|
1332 |
LOG_FUNCTION_END(Status); |
1333 |
return Status;
|
1334 |
} |
1335 |
|
1336 |
VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
1337 |
uint32_t InterMeasurementPeriodMilliSeconds) |
1338 |
{ |
1339 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1340 |
uint16_t osc_calibrate_val; |
1341 |
uint32_t IMPeriodMilliSeconds; |
1342 |
|
1343 |
LOG_FUNCTION_START("");
|
1344 |
|
1345 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
1346 |
&osc_calibrate_val); |
1347 |
|
1348 |
if (Status == VL53L0X_ERROR_NONE) {
|
1349 |
if (osc_calibrate_val != 0) { |
1350 |
IMPeriodMilliSeconds = |
1351 |
InterMeasurementPeriodMilliSeconds |
1352 |
* osc_calibrate_val; |
1353 |
} else {
|
1354 |
IMPeriodMilliSeconds = |
1355 |
InterMeasurementPeriodMilliSeconds; |
1356 |
} |
1357 |
Status = VL53L0X_WrDWord(Dev, |
1358 |
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
1359 |
IMPeriodMilliSeconds); |
1360 |
} |
1361 |
|
1362 |
if (Status == VL53L0X_ERROR_NONE) {
|
1363 |
VL53L0X_SETPARAMETERFIELD(Dev, |
1364 |
InterMeasurementPeriodMilliSeconds, |
1365 |
InterMeasurementPeriodMilliSeconds); |
1366 |
} |
1367 |
|
1368 |
LOG_FUNCTION_END(Status); |
1369 |
return Status;
|
1370 |
} |
1371 |
|
1372 |
VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
1373 |
uint32_t *pInterMeasurementPeriodMilliSeconds) |
1374 |
{ |
1375 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1376 |
uint16_t osc_calibrate_val; |
1377 |
uint32_t IMPeriodMilliSeconds; |
1378 |
|
1379 |
LOG_FUNCTION_START("");
|
1380 |
|
1381 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
1382 |
&osc_calibrate_val); |
1383 |
|
1384 |
if (Status == VL53L0X_ERROR_NONE) {
|
1385 |
Status = VL53L0X_RdDWord(Dev, |
1386 |
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
1387 |
&IMPeriodMilliSeconds); |
1388 |
} |
1389 |
|
1390 |
if (Status == VL53L0X_ERROR_NONE) {
|
1391 |
if (osc_calibrate_val != 0) { |
1392 |
*pInterMeasurementPeriodMilliSeconds = |
1393 |
IMPeriodMilliSeconds / osc_calibrate_val; |
1394 |
} |
1395 |
VL53L0X_SETPARAMETERFIELD(Dev, |
1396 |
InterMeasurementPeriodMilliSeconds, |
1397 |
*pInterMeasurementPeriodMilliSeconds); |
1398 |
} |
1399 |
|
1400 |
LOG_FUNCTION_END(Status); |
1401 |
return Status;
|
1402 |
} |
1403 |
|
1404 |
VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, |
1405 |
uint8_t XTalkCompensationEnable) |
1406 |
{ |
1407 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1408 |
FixPoint1616_t TempFix1616; |
1409 |
uint16_t LinearityCorrectiveGain; |
1410 |
|
1411 |
LOG_FUNCTION_START("");
|
1412 |
|
1413 |
LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
1414 |
|
1415 |
if ((XTalkCompensationEnable == 0) |
1416 |
|| (LinearityCorrectiveGain != 1000)) {
|
1417 |
TempFix1616 = 0;
|
1418 |
} else {
|
1419 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
1420 |
TempFix1616); |
1421 |
} |
1422 |
|
1423 |
/* the following register has a format 3.13 */
|
1424 |
Status = VL53L0X_WrWord(Dev, |
1425 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, |
1426 |
VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616)); |
1427 |
|
1428 |
if (Status == VL53L0X_ERROR_NONE) {
|
1429 |
if (XTalkCompensationEnable == 0) { |
1430 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
1431 |
0);
|
1432 |
} else {
|
1433 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
1434 |
1);
|
1435 |
} |
1436 |
} |
1437 |
|
1438 |
LOG_FUNCTION_END(Status); |
1439 |
return Status;
|
1440 |
} |
1441 |
|
1442 |
VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, |
1443 |
uint8_t *pXTalkCompensationEnable) |
1444 |
{ |
1445 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1446 |
uint8_t Temp8; |
1447 |
LOG_FUNCTION_START("");
|
1448 |
|
1449 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
1450 |
*pXTalkCompensationEnable = Temp8; |
1451 |
|
1452 |
LOG_FUNCTION_END(Status); |
1453 |
return Status;
|
1454 |
} |
1455 |
|
1456 |
VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
1457 |
FixPoint1616_t XTalkCompensationRateMegaCps) |
1458 |
{ |
1459 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1460 |
uint8_t Temp8; |
1461 |
uint16_t LinearityCorrectiveGain; |
1462 |
uint16_t data; |
1463 |
LOG_FUNCTION_START("");
|
1464 |
|
1465 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
1466 |
LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
1467 |
|
1468 |
if (Temp8 == 0) { /* disabled write only internal value */ |
1469 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
1470 |
XTalkCompensationRateMegaCps); |
1471 |
} else {
|
1472 |
/* the following register has a format 3.13 */
|
1473 |
if (LinearityCorrectiveGain == 1000) { |
1474 |
data = VL53L0X_FIXPOINT1616TOFIXPOINT313( |
1475 |
XTalkCompensationRateMegaCps); |
1476 |
} else {
|
1477 |
data = 0;
|
1478 |
} |
1479 |
|
1480 |
Status = VL53L0X_WrWord(Dev, |
1481 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); |
1482 |
|
1483 |
if (Status == VL53L0X_ERROR_NONE) {
|
1484 |
VL53L0X_SETPARAMETERFIELD(Dev, |
1485 |
XTalkCompensationRateMegaCps, |
1486 |
XTalkCompensationRateMegaCps); |
1487 |
} |
1488 |
} |
1489 |
|
1490 |
LOG_FUNCTION_END(Status); |
1491 |
return Status;
|
1492 |
} |
1493 |
|
1494 |
VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
1495 |
FixPoint1616_t *pXTalkCompensationRateMegaCps) |
1496 |
{ |
1497 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1498 |
uint16_t Value; |
1499 |
FixPoint1616_t TempFix1616; |
1500 |
|
1501 |
LOG_FUNCTION_START("");
|
1502 |
|
1503 |
Status = VL53L0X_RdWord(Dev, |
1504 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); |
1505 |
if (Status == VL53L0X_ERROR_NONE) {
|
1506 |
if (Value == 0) { |
1507 |
/* the Xtalk is disabled return value from memory */
|
1508 |
VL53L0X_GETPARAMETERFIELD(Dev, |
1509 |
XTalkCompensationRateMegaCps, TempFix1616); |
1510 |
*pXTalkCompensationRateMegaCps = TempFix1616; |
1511 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
1512 |
0);
|
1513 |
} else {
|
1514 |
TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); |
1515 |
*pXTalkCompensationRateMegaCps = TempFix1616; |
1516 |
VL53L0X_SETPARAMETERFIELD(Dev, |
1517 |
XTalkCompensationRateMegaCps, TempFix1616); |
1518 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
1519 |
1);
|
1520 |
} |
1521 |
} |
1522 |
|
1523 |
LOG_FUNCTION_END(Status); |
1524 |
return Status;
|
1525 |
} |
1526 |
|
1527 |
VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings, |
1528 |
uint8_t PhaseCal) |
1529 |
{ |
1530 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1531 |
LOG_FUNCTION_START("");
|
1532 |
|
1533 |
Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal); |
1534 |
|
1535 |
LOG_FUNCTION_END(Status); |
1536 |
return Status;
|
1537 |
} |
1538 |
|
1539 |
VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
1540 |
uint8_t *pPhaseCal) |
1541 |
{ |
1542 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1543 |
LOG_FUNCTION_START("");
|
1544 |
|
1545 |
Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); |
1546 |
|
1547 |
LOG_FUNCTION_END(Status); |
1548 |
return Status;
|
1549 |
} |
1550 |
|
1551 |
/*
|
1552 |
* CHECK LIMIT FUNCTIONS
|
1553 |
*/
|
1554 |
|
1555 |
VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
1556 |
{ |
1557 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1558 |
LOG_FUNCTION_START("");
|
1559 |
|
1560 |
*pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; |
1561 |
|
1562 |
LOG_FUNCTION_END(Status); |
1563 |
return Status;
|
1564 |
} |
1565 |
|
1566 |
VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1567 |
char *pLimitCheckString)
|
1568 |
{ |
1569 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1570 |
|
1571 |
LOG_FUNCTION_START("");
|
1572 |
|
1573 |
Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId, |
1574 |
pLimitCheckString); |
1575 |
|
1576 |
LOG_FUNCTION_END(Status); |
1577 |
return Status;
|
1578 |
} |
1579 |
|
1580 |
VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1581 |
uint8_t *pLimitCheckStatus) |
1582 |
{ |
1583 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1584 |
uint8_t Temp8; |
1585 |
|
1586 |
LOG_FUNCTION_START("");
|
1587 |
|
1588 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
1589 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1590 |
} else {
|
1591 |
|
1592 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
1593 |
LimitCheckId, Temp8); |
1594 |
|
1595 |
*pLimitCheckStatus = Temp8; |
1596 |
|
1597 |
} |
1598 |
|
1599 |
LOG_FUNCTION_END(Status); |
1600 |
return Status;
|
1601 |
} |
1602 |
|
1603 |
VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1604 |
uint8_t LimitCheckEnable) |
1605 |
{ |
1606 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1607 |
FixPoint1616_t TempFix1616 = 0;
|
1608 |
uint8_t LimitCheckEnableInt = 0;
|
1609 |
uint8_t LimitCheckDisable = 0;
|
1610 |
uint8_t Temp8; |
1611 |
|
1612 |
LOG_FUNCTION_START("");
|
1613 |
|
1614 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
1615 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1616 |
} else {
|
1617 |
if (LimitCheckEnable == 0) { |
1618 |
TempFix1616 = 0;
|
1619 |
LimitCheckEnableInt = 0;
|
1620 |
LimitCheckDisable = 1;
|
1621 |
|
1622 |
} else {
|
1623 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1624 |
LimitCheckId, TempFix1616); |
1625 |
LimitCheckDisable = 0;
|
1626 |
/* this to be sure to have either 0 or 1 */
|
1627 |
LimitCheckEnableInt = 1;
|
1628 |
} |
1629 |
|
1630 |
switch (LimitCheckId) {
|
1631 |
|
1632 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
1633 |
/* internal computation: */
|
1634 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1635 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
1636 |
LimitCheckEnableInt); |
1637 |
|
1638 |
break;
|
1639 |
|
1640 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
1641 |
|
1642 |
Status = VL53L0X_WrWord(Dev, |
1643 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
1644 |
VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); |
1645 |
|
1646 |
break;
|
1647 |
|
1648 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
1649 |
|
1650 |
/* internal computation: */
|
1651 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1652 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
1653 |
LimitCheckEnableInt); |
1654 |
|
1655 |
break;
|
1656 |
|
1657 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
1658 |
|
1659 |
/* internal computation: */
|
1660 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1661 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
1662 |
LimitCheckEnableInt); |
1663 |
|
1664 |
break;
|
1665 |
|
1666 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
1667 |
|
1668 |
Temp8 = (uint8_t)(LimitCheckDisable << 1);
|
1669 |
Status = VL53L0X_UpdateByte(Dev, |
1670 |
VL53L0X_REG_MSRC_CONFIG_CONTROL, |
1671 |
0xFE, Temp8);
|
1672 |
|
1673 |
break;
|
1674 |
|
1675 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
1676 |
|
1677 |
Temp8 = (uint8_t)(LimitCheckDisable << 4);
|
1678 |
Status = VL53L0X_UpdateByte(Dev, |
1679 |
VL53L0X_REG_MSRC_CONFIG_CONTROL, |
1680 |
0xEF, Temp8);
|
1681 |
|
1682 |
break;
|
1683 |
|
1684 |
|
1685 |
default:
|
1686 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1687 |
|
1688 |
} |
1689 |
|
1690 |
} |
1691 |
|
1692 |
if (Status == VL53L0X_ERROR_NONE) {
|
1693 |
if (LimitCheckEnable == 0) { |
1694 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1695 |
LimitCheckId, 0);
|
1696 |
} else {
|
1697 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1698 |
LimitCheckId, 1);
|
1699 |
} |
1700 |
} |
1701 |
|
1702 |
LOG_FUNCTION_END(Status); |
1703 |
return Status;
|
1704 |
} |
1705 |
|
1706 |
VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1707 |
uint8_t *pLimitCheckEnable) |
1708 |
{ |
1709 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1710 |
uint8_t Temp8; |
1711 |
|
1712 |
LOG_FUNCTION_START("");
|
1713 |
|
1714 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
1715 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1716 |
*pLimitCheckEnable = 0;
|
1717 |
} else {
|
1718 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
1719 |
LimitCheckId, Temp8); |
1720 |
*pLimitCheckEnable = Temp8; |
1721 |
} |
1722 |
|
1723 |
LOG_FUNCTION_END(Status); |
1724 |
return Status;
|
1725 |
} |
1726 |
|
1727 |
VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1728 |
FixPoint1616_t LimitCheckValue) |
1729 |
{ |
1730 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1731 |
uint8_t Temp8; |
1732 |
|
1733 |
LOG_FUNCTION_START("");
|
1734 |
|
1735 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, |
1736 |
Temp8); |
1737 |
|
1738 |
if (Temp8 == 0) { /* disabled write only internal value */ |
1739 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1740 |
LimitCheckId, LimitCheckValue); |
1741 |
} else {
|
1742 |
|
1743 |
switch (LimitCheckId) {
|
1744 |
|
1745 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
1746 |
/* internal computation: */
|
1747 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1748 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
1749 |
LimitCheckValue); |
1750 |
break;
|
1751 |
|
1752 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
1753 |
|
1754 |
Status = VL53L0X_WrWord(Dev, |
1755 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
1756 |
VL53L0X_FIXPOINT1616TOFIXPOINT97( |
1757 |
LimitCheckValue)); |
1758 |
|
1759 |
break;
|
1760 |
|
1761 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
1762 |
|
1763 |
/* internal computation: */
|
1764 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1765 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
1766 |
LimitCheckValue); |
1767 |
|
1768 |
break;
|
1769 |
|
1770 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
1771 |
|
1772 |
/* internal computation: */
|
1773 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1774 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
1775 |
LimitCheckValue); |
1776 |
|
1777 |
break;
|
1778 |
|
1779 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
1780 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
1781 |
|
1782 |
Status = VL53L0X_WrWord(Dev, |
1783 |
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
1784 |
VL53L0X_FIXPOINT1616TOFIXPOINT97( |
1785 |
LimitCheckValue)); |
1786 |
|
1787 |
break;
|
1788 |
|
1789 |
default:
|
1790 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1791 |
|
1792 |
} |
1793 |
|
1794 |
if (Status == VL53L0X_ERROR_NONE) {
|
1795 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1796 |
LimitCheckId, LimitCheckValue); |
1797 |
} |
1798 |
} |
1799 |
|
1800 |
LOG_FUNCTION_END(Status); |
1801 |
return Status;
|
1802 |
} |
1803 |
|
1804 |
VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1805 |
FixPoint1616_t *pLimitCheckValue) |
1806 |
{ |
1807 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1808 |
uint8_t EnableZeroValue = 0;
|
1809 |
uint16_t Temp16; |
1810 |
FixPoint1616_t TempFix1616; |
1811 |
|
1812 |
LOG_FUNCTION_START("");
|
1813 |
|
1814 |
switch (LimitCheckId) {
|
1815 |
|
1816 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
1817 |
/* internal computation: */
|
1818 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1819 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); |
1820 |
EnableZeroValue = 0;
|
1821 |
break;
|
1822 |
|
1823 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
1824 |
Status = VL53L0X_RdWord(Dev, |
1825 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
1826 |
&Temp16); |
1827 |
if (Status == VL53L0X_ERROR_NONE)
|
1828 |
TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
1829 |
|
1830 |
|
1831 |
EnableZeroValue = 1;
|
1832 |
break;
|
1833 |
|
1834 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
1835 |
/* internal computation: */
|
1836 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1837 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); |
1838 |
EnableZeroValue = 0;
|
1839 |
break;
|
1840 |
|
1841 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
1842 |
/* internal computation: */
|
1843 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
1844 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); |
1845 |
EnableZeroValue = 0;
|
1846 |
break;
|
1847 |
|
1848 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
1849 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
1850 |
Status = VL53L0X_RdWord(Dev, |
1851 |
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
1852 |
&Temp16); |
1853 |
if (Status == VL53L0X_ERROR_NONE)
|
1854 |
TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
1855 |
|
1856 |
|
1857 |
EnableZeroValue = 0;
|
1858 |
break;
|
1859 |
|
1860 |
default:
|
1861 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1862 |
|
1863 |
} |
1864 |
|
1865 |
if (Status == VL53L0X_ERROR_NONE) {
|
1866 |
|
1867 |
if (EnableZeroValue == 1) { |
1868 |
|
1869 |
if (TempFix1616 == 0) { |
1870 |
/* disabled: return value from memory */
|
1871 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, |
1872 |
LimitChecksValue, LimitCheckId, |
1873 |
TempFix1616); |
1874 |
*pLimitCheckValue = TempFix1616; |
1875 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
1876 |
LimitChecksEnable, LimitCheckId, 0);
|
1877 |
} else {
|
1878 |
*pLimitCheckValue = TempFix1616; |
1879 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
1880 |
LimitChecksValue, LimitCheckId, |
1881 |
TempFix1616); |
1882 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
1883 |
LimitChecksEnable, LimitCheckId, 1);
|
1884 |
} |
1885 |
} else {
|
1886 |
*pLimitCheckValue = TempFix1616; |
1887 |
} |
1888 |
} |
1889 |
|
1890 |
LOG_FUNCTION_END(Status); |
1891 |
return Status;
|
1892 |
|
1893 |
} |
1894 |
|
1895 |
VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
1896 |
FixPoint1616_t *pLimitCheckCurrent) |
1897 |
{ |
1898 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1899 |
VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
1900 |
|
1901 |
LOG_FUNCTION_START("");
|
1902 |
|
1903 |
|
1904 |
|
1905 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
1906 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1907 |
} else {
|
1908 |
|
1909 |
switch (LimitCheckId) {
|
1910 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
1911 |
/* Need to run a ranging to have the latest values */
|
1912 |
*pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); |
1913 |
|
1914 |
break;
|
1915 |
|
1916 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
1917 |
/* Need to run a ranging to have the latest values */
|
1918 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
1919 |
LastRangeMeasure); |
1920 |
*pLimitCheckCurrent = |
1921 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
1922 |
|
1923 |
break;
|
1924 |
|
1925 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
1926 |
/* Need to run a ranging to have the latest values */
|
1927 |
*pLimitCheckCurrent = PALDevDataGet(Dev, |
1928 |
LastSignalRefMcps); |
1929 |
|
1930 |
break;
|
1931 |
|
1932 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
1933 |
/* Need to run a ranging to have the latest values */
|
1934 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
1935 |
LastRangeMeasure); |
1936 |
*pLimitCheckCurrent = |
1937 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
1938 |
|
1939 |
break;
|
1940 |
|
1941 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
1942 |
/* Need to run a ranging to have the latest values */
|
1943 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
1944 |
LastRangeMeasure); |
1945 |
*pLimitCheckCurrent = |
1946 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
1947 |
|
1948 |
break;
|
1949 |
|
1950 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
1951 |
/* Need to run a ranging to have the latest values */
|
1952 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
1953 |
LastRangeMeasure); |
1954 |
*pLimitCheckCurrent = |
1955 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
1956 |
|
1957 |
break;
|
1958 |
|
1959 |
default:
|
1960 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
1961 |
} |
1962 |
} |
1963 |
|
1964 |
|
1965 |
|
1966 |
LOG_FUNCTION_END(Status); |
1967 |
return Status;
|
1968 |
|
1969 |
} |
1970 |
|
1971 |
/*
|
1972 |
* WRAPAROUND Check
|
1973 |
*/
|
1974 |
VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
1975 |
uint8_t WrapAroundCheckEnable) |
1976 |
{ |
1977 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
1978 |
uint8_t Byte; |
1979 |
uint8_t WrapAroundCheckEnableInt; |
1980 |
|
1981 |
LOG_FUNCTION_START("");
|
1982 |
|
1983 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); |
1984 |
if (WrapAroundCheckEnable == 0) { |
1985 |
/* Disable wraparound */
|
1986 |
Byte = Byte & 0x7F;
|
1987 |
WrapAroundCheckEnableInt = 0;
|
1988 |
} else {
|
1989 |
/*Enable wraparound */
|
1990 |
Byte = Byte | 0x80;
|
1991 |
WrapAroundCheckEnableInt = 1;
|
1992 |
} |
1993 |
|
1994 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte); |
1995 |
|
1996 |
if (Status == VL53L0X_ERROR_NONE) {
|
1997 |
PALDevDataSet(Dev, SequenceConfig, Byte); |
1998 |
VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
1999 |
WrapAroundCheckEnableInt); |
2000 |
} |
2001 |
|
2002 |
LOG_FUNCTION_END(Status); |
2003 |
return Status;
|
2004 |
} |
2005 |
|
2006 |
VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
2007 |
uint8_t *pWrapAroundCheckEnable) |
2008 |
{ |
2009 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2010 |
uint8_t data; |
2011 |
|
2012 |
LOG_FUNCTION_START("");
|
2013 |
|
2014 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); |
2015 |
if (Status == VL53L0X_ERROR_NONE) {
|
2016 |
PALDevDataSet(Dev, SequenceConfig, data); |
2017 |
if (data & (0x01 << 7)) |
2018 |
*pWrapAroundCheckEnable = 0x01;
|
2019 |
else
|
2020 |
*pWrapAroundCheckEnable = 0x00;
|
2021 |
} |
2022 |
if (Status == VL53L0X_ERROR_NONE) {
|
2023 |
VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
2024 |
*pWrapAroundCheckEnable); |
2025 |
} |
2026 |
|
2027 |
LOG_FUNCTION_END(Status); |
2028 |
return Status;
|
2029 |
} |
2030 |
|
2031 |
VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev, |
2032 |
uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps) |
2033 |
{ |
2034 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2035 |
FixPoint1616_t SignalRateRtnMegaCpsTemp = 0;
|
2036 |
|
2037 |
LOG_FUNCTION_START("");
|
2038 |
|
2039 |
/* Check if one of input parameter is zero, in that case the
|
2040 |
* value are get from NVM */
|
2041 |
if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) { |
2042 |
/* NVM parameters */
|
2043 |
/* Run VL53L0X_get_info_from_device wit option 4 to get
|
2044 |
* signal rate at 400 mm if the value have been already
|
2045 |
* get this function will return with no access to device */
|
2046 |
VL53L0X_get_info_from_device(Dev, 4);
|
2047 |
|
2048 |
SignalRateRtnMegaCpsTemp = VL53L0X_GETDEVICESPECIFICPARAMETER( |
2049 |
Dev, SignalRateMeasFixed400mm); |
2050 |
|
2051 |
PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
|
2052 |
PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
2053 |
SignalRateRtnMegaCpsTemp); |
2054 |
} else {
|
2055 |
/* User parameters */
|
2056 |
PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter); |
2057 |
PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
2058 |
SignalRateRtnMegaCps); |
2059 |
} |
2060 |
|
2061 |
LOG_FUNCTION_END(Status); |
2062 |
return Status;
|
2063 |
} |
2064 |
|
2065 |
VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev, |
2066 |
uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps) |
2067 |
{ |
2068 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2069 |
|
2070 |
LOG_FUNCTION_START("");
|
2071 |
|
2072 |
*pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter); |
2073 |
*pSignalRateRtnMegaCps = PALDevDataGet(Dev, |
2074 |
DmaxCalSignalRateRtnMegaCps); |
2075 |
|
2076 |
LOG_FUNCTION_END(Status); |
2077 |
return Status;
|
2078 |
} |
2079 |
|
2080 |
/* End Group PAL Parameters Functions */
|
2081 |
|
2082 |
/* Group PAL Measurement Functions */
|
2083 |
VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) |
2084 |
{ |
2085 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2086 |
VL53L0X_DeviceModes DeviceMode; |
2087 |
|
2088 |
LOG_FUNCTION_START("");
|
2089 |
|
2090 |
/* Get Current DeviceMode */
|
2091 |
Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
2092 |
|
2093 |
/* Start immediately to run a single ranging measurement in case of
|
2094 |
* single ranging or single histogram */
|
2095 |
if (Status == VL53L0X_ERROR_NONE
|
2096 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
2097 |
Status = VL53L0X_StartMeasurement(Dev); |
2098 |
|
2099 |
|
2100 |
if (Status == VL53L0X_ERROR_NONE
|
2101 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
2102 |
Status = VL53L0X_measurement_poll_for_completion(Dev); |
2103 |
|
2104 |
|
2105 |
/* Change PAL State in case of single ranging or single histogram */
|
2106 |
if (Status == VL53L0X_ERROR_NONE
|
2107 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
2108 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
2109 |
|
2110 |
|
2111 |
LOG_FUNCTION_END(Status); |
2112 |
return Status;
|
2113 |
} |
2114 |
|
2115 |
VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, |
2116 |
VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
2117 |
{ |
2118 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
2119 |
LOG_FUNCTION_START("");
|
2120 |
|
2121 |
/* not implemented on VL53L0X */
|
2122 |
|
2123 |
LOG_FUNCTION_END(Status); |
2124 |
return Status;
|
2125 |
} |
2126 |
|
2127 |
VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
2128 |
uint8_t *pPhaseCal) |
2129 |
{ |
2130 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2131 |
LOG_FUNCTION_START("");
|
2132 |
|
2133 |
Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, |
2134 |
pPhaseCal, 1);
|
2135 |
|
2136 |
LOG_FUNCTION_END(Status); |
2137 |
return Status;
|
2138 |
} |
2139 |
|
2140 |
VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, |
2141 |
uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, |
2142 |
uint8_t *pAmbientTooHigh) |
2143 |
{ |
2144 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
2145 |
LOG_FUNCTION_START("");
|
2146 |
|
2147 |
/* not implemented on VL53L0X */
|
2148 |
|
2149 |
LOG_FUNCTION_END(Status); |
2150 |
return Status;
|
2151 |
} |
2152 |
|
2153 |
VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, |
2154 |
FixPoint1616_t XTalkCalDistance, |
2155 |
FixPoint1616_t *pXTalkCompensationRateMegaCps) |
2156 |
{ |
2157 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2158 |
LOG_FUNCTION_START("");
|
2159 |
|
2160 |
Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance, |
2161 |
pXTalkCompensationRateMegaCps); |
2162 |
|
2163 |
LOG_FUNCTION_END(Status); |
2164 |
return Status;
|
2165 |
} |
2166 |
|
2167 |
VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, |
2168 |
FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) |
2169 |
{ |
2170 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2171 |
LOG_FUNCTION_START("");
|
2172 |
|
2173 |
Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter, |
2174 |
pOffsetMicroMeter); |
2175 |
|
2176 |
LOG_FUNCTION_END(Status); |
2177 |
return Status;
|
2178 |
} |
2179 |
|
2180 |
VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, |
2181 |
uint8_t StartNotStopFlag) |
2182 |
{ |
2183 |
uint8_t InterruptConfig; |
2184 |
FixPoint1616_t ThresholdLow; |
2185 |
FixPoint1616_t ThresholdHigh; |
2186 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2187 |
|
2188 |
InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
2189 |
Pin0GpioFunctionality); |
2190 |
|
2191 |
if ((InterruptConfig ==
|
2192 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || |
2193 |
(InterruptConfig == |
2194 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || |
2195 |
(InterruptConfig == |
2196 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) { |
2197 |
|
2198 |
Status = VL53L0X_GetInterruptThresholds(Dev, |
2199 |
VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
2200 |
&ThresholdLow, &ThresholdHigh); |
2201 |
|
2202 |
if (((ThresholdLow > 255*65536) || |
2203 |
(ThresholdHigh > 255*65536)) && |
2204 |
(Status == VL53L0X_ERROR_NONE)) { |
2205 |
|
2206 |
if (StartNotStopFlag != 0) { |
2207 |
Status = VL53L0X_load_tuning_settings(Dev, |
2208 |
InterruptThresholdSettings); |
2209 |
} else {
|
2210 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); |
2211 |
Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); |
2212 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2213 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
2214 |
} |
2215 |
|
2216 |
} |
2217 |
|
2218 |
|
2219 |
} |
2220 |
|
2221 |
return Status;
|
2222 |
|
2223 |
} |
2224 |
|
2225 |
|
2226 |
VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev) |
2227 |
{ |
2228 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2229 |
VL53L0X_DeviceModes DeviceMode; |
2230 |
uint8_t Byte; |
2231 |
uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; |
2232 |
uint32_t LoopNb; |
2233 |
LOG_FUNCTION_START("");
|
2234 |
|
2235 |
/* Get Current DeviceMode */
|
2236 |
VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
2237 |
|
2238 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
2239 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2240 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
2241 |
Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
|
2242 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
2243 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2244 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
2245 |
|
2246 |
switch (DeviceMode) {
|
2247 |
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
2248 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
|
2249 |
|
2250 |
Byte = StartStopByte; |
2251 |
if (Status == VL53L0X_ERROR_NONE) {
|
2252 |
/* Wait until start bit has been cleared */
|
2253 |
LoopNb = 0;
|
2254 |
do {
|
2255 |
if (LoopNb > 0) |
2256 |
Status = VL53L0X_RdByte(Dev, |
2257 |
VL53L0X_REG_SYSRANGE_START, &Byte); |
2258 |
LoopNb = LoopNb + 1;
|
2259 |
} while (((Byte & StartStopByte) == StartStopByte)
|
2260 |
&& (Status == VL53L0X_ERROR_NONE) |
2261 |
&& (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); |
2262 |
|
2263 |
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
|
2264 |
Status = VL53L0X_ERROR_TIME_OUT; |
2265 |
|
2266 |
} |
2267 |
|
2268 |
break;
|
2269 |
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
2270 |
/* Back-to-back mode */
|
2271 |
|
2272 |
/* Check if need to apply interrupt settings */
|
2273 |
if (Status == VL53L0X_ERROR_NONE)
|
2274 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
2275 |
|
2276 |
Status = VL53L0X_WrByte(Dev, |
2277 |
VL53L0X_REG_SYSRANGE_START, |
2278 |
VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
2279 |
if (Status == VL53L0X_ERROR_NONE) {
|
2280 |
/* Set PAL State to Running */
|
2281 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
2282 |
} |
2283 |
break;
|
2284 |
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
2285 |
/* Continuous mode */
|
2286 |
/* Check if need to apply interrupt settings */
|
2287 |
if (Status == VL53L0X_ERROR_NONE)
|
2288 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
2289 |
|
2290 |
Status = VL53L0X_WrByte(Dev, |
2291 |
VL53L0X_REG_SYSRANGE_START, |
2292 |
VL53L0X_REG_SYSRANGE_MODE_TIMED); |
2293 |
|
2294 |
if (Status == VL53L0X_ERROR_NONE) {
|
2295 |
/* Set PAL State to Running */
|
2296 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
2297 |
} |
2298 |
break;
|
2299 |
default:
|
2300 |
/* Selected mode not supported */
|
2301 |
Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
2302 |
} |
2303 |
|
2304 |
|
2305 |
LOG_FUNCTION_END(Status); |
2306 |
return Status;
|
2307 |
} |
2308 |
|
2309 |
VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev) |
2310 |
{ |
2311 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2312 |
LOG_FUNCTION_START("");
|
2313 |
|
2314 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, |
2315 |
VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); |
2316 |
|
2317 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2318 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
2319 |
Status = VL53L0X_WrByte(Dev, 0x91, 0x00); |
2320 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
2321 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2322 |
|
2323 |
if (Status == VL53L0X_ERROR_NONE) {
|
2324 |
/* Set PAL State to Idle */
|
2325 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
2326 |
} |
2327 |
|
2328 |
/* Check if need to apply interrupt settings */
|
2329 |
if (Status == VL53L0X_ERROR_NONE)
|
2330 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0);
|
2331 |
|
2332 |
LOG_FUNCTION_END(Status); |
2333 |
return Status;
|
2334 |
} |
2335 |
|
2336 |
VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, |
2337 |
uint8_t *pMeasurementDataReady) |
2338 |
{ |
2339 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2340 |
uint8_t SysRangeStatusRegister; |
2341 |
uint8_t InterruptConfig; |
2342 |
uint32_t InterruptMask; |
2343 |
LOG_FUNCTION_START("");
|
2344 |
|
2345 |
InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
2346 |
Pin0GpioFunctionality); |
2347 |
|
2348 |
if (InterruptConfig ==
|
2349 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { |
2350 |
Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); |
2351 |
if (InterruptMask ==
|
2352 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) |
2353 |
*pMeasurementDataReady = 1;
|
2354 |
else
|
2355 |
*pMeasurementDataReady = 0;
|
2356 |
} else {
|
2357 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
2358 |
&SysRangeStatusRegister); |
2359 |
if (Status == VL53L0X_ERROR_NONE) {
|
2360 |
if (SysRangeStatusRegister & 0x01) |
2361 |
*pMeasurementDataReady = 1;
|
2362 |
else
|
2363 |
*pMeasurementDataReady = 0;
|
2364 |
} |
2365 |
} |
2366 |
|
2367 |
LOG_FUNCTION_END(Status); |
2368 |
return Status;
|
2369 |
} |
2370 |
|
2371 |
VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, |
2372 |
uint32_t MaxLoop) |
2373 |
{ |
2374 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
2375 |
LOG_FUNCTION_START("");
|
2376 |
|
2377 |
/* not implemented for VL53L0X */
|
2378 |
|
2379 |
LOG_FUNCTION_END(Status); |
2380 |
return Status;
|
2381 |
} |
2382 |
|
2383 |
|
2384 |
VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, |
2385 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
2386 |
{ |
2387 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2388 |
uint8_t DeviceRangeStatus; |
2389 |
uint8_t RangeFractionalEnable; |
2390 |
uint8_t PalRangeStatus; |
2391 |
uint8_t XTalkCompensationEnable; |
2392 |
uint16_t AmbientRate; |
2393 |
FixPoint1616_t SignalRate; |
2394 |
uint16_t XTalkCompensationRateMegaCps; |
2395 |
uint16_t EffectiveSpadRtnCount; |
2396 |
uint16_t tmpuint16; |
2397 |
uint16_t XtalkRangeMilliMeter; |
2398 |
uint16_t LinearityCorrectiveGain; |
2399 |
uint8_t localBuffer[12];
|
2400 |
VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
2401 |
|
2402 |
LOG_FUNCTION_START("");
|
2403 |
|
2404 |
/*
|
2405 |
* use multi read even if some registers are not useful, result will
|
2406 |
* be more efficient
|
2407 |
* start reading at 0x14 dec20
|
2408 |
* end reading at 0x21 dec33 total 14 bytes to read
|
2409 |
*/
|
2410 |
Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); |
2411 |
|
2412 |
if (Status == VL53L0X_ERROR_NONE) {
|
2413 |
|
2414 |
pRangingMeasurementData->ZoneId = 0; /* Only one zone */ |
2415 |
pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ |
2416 |
|
2417 |
tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); |
2418 |
/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
|
2419 |
*(format 11.2) else no fractional
|
2420 |
*/
|
2421 |
|
2422 |
pRangingMeasurementData->MeasurementTimeUsec = 0;
|
2423 |
|
2424 |
SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( |
2425 |
VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); |
2426 |
/* peak_signal_count_rate_rtn_mcps */
|
2427 |
pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; |
2428 |
|
2429 |
AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); |
2430 |
pRangingMeasurementData->AmbientRateRtnMegaCps = |
2431 |
VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); |
2432 |
|
2433 |
EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
|
2434 |
localBuffer[2]);
|
2435 |
/* EffectiveSpadRtnCount is 8.8 format */
|
2436 |
pRangingMeasurementData->EffectiveSpadRtnCount = |
2437 |
EffectiveSpadRtnCount; |
2438 |
|
2439 |
DeviceRangeStatus = localBuffer[0];
|
2440 |
|
2441 |
/* Get Linearity Corrective Gain */
|
2442 |
LinearityCorrectiveGain = PALDevDataGet(Dev, |
2443 |
LinearityCorrectiveGain); |
2444 |
|
2445 |
/* Get ranging configuration */
|
2446 |
RangeFractionalEnable = PALDevDataGet(Dev, |
2447 |
RangeFractionalEnable); |
2448 |
|
2449 |
if (LinearityCorrectiveGain != 1000) { |
2450 |
|
2451 |
tmpuint16 = (uint16_t)((LinearityCorrectiveGain |
2452 |
* tmpuint16 + 500) / 1000); |
2453 |
|
2454 |
/* Implement Xtalk */
|
2455 |
VL53L0X_GETPARAMETERFIELD(Dev, |
2456 |
XTalkCompensationRateMegaCps, |
2457 |
XTalkCompensationRateMegaCps); |
2458 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
2459 |
XTalkCompensationEnable); |
2460 |
|
2461 |
if (XTalkCompensationEnable) {
|
2462 |
|
2463 |
if ((SignalRate
|
2464 |
- ((XTalkCompensationRateMegaCps |
2465 |
* EffectiveSpadRtnCount) >> 8))
|
2466 |
<= 0) {
|
2467 |
if (RangeFractionalEnable)
|
2468 |
XtalkRangeMilliMeter = 8888;
|
2469 |
else
|
2470 |
XtalkRangeMilliMeter = 8888
|
2471 |
<< 2;
|
2472 |
} else {
|
2473 |
XtalkRangeMilliMeter = |
2474 |
(tmpuint16 * SignalRate) |
2475 |
/ (SignalRate |
2476 |
- ((XTalkCompensationRateMegaCps |
2477 |
* EffectiveSpadRtnCount) |
2478 |
>> 8));
|
2479 |
} |
2480 |
|
2481 |
tmpuint16 = XtalkRangeMilliMeter; |
2482 |
} |
2483 |
|
2484 |
} |
2485 |
|
2486 |
if (RangeFractionalEnable) {
|
2487 |
pRangingMeasurementData->RangeMilliMeter = |
2488 |
(uint16_t)((tmpuint16) >> 2);
|
2489 |
pRangingMeasurementData->RangeFractionalPart = |
2490 |
(uint8_t)((tmpuint16 & 0x03) << 6); |
2491 |
} else {
|
2492 |
pRangingMeasurementData->RangeMilliMeter = tmpuint16; |
2493 |
pRangingMeasurementData->RangeFractionalPart = 0;
|
2494 |
} |
2495 |
|
2496 |
/*
|
2497 |
* For a standard definition of RangeStatus, this should
|
2498 |
* return 0 in case of good result after a ranging
|
2499 |
* The range status depends on the device so call a device
|
2500 |
* specific function to obtain the right Status.
|
2501 |
*/
|
2502 |
Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, |
2503 |
SignalRate, EffectiveSpadRtnCount, |
2504 |
pRangingMeasurementData, &PalRangeStatus); |
2505 |
|
2506 |
if (Status == VL53L0X_ERROR_NONE)
|
2507 |
pRangingMeasurementData->RangeStatus = PalRangeStatus; |
2508 |
|
2509 |
} |
2510 |
|
2511 |
if (Status == VL53L0X_ERROR_NONE) {
|
2512 |
/* Copy last read data into Dev buffer */
|
2513 |
LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
2514 |
|
2515 |
LastRangeDataBuffer.RangeMilliMeter = |
2516 |
pRangingMeasurementData->RangeMilliMeter; |
2517 |
LastRangeDataBuffer.RangeFractionalPart = |
2518 |
pRangingMeasurementData->RangeFractionalPart; |
2519 |
LastRangeDataBuffer.RangeDMaxMilliMeter = |
2520 |
pRangingMeasurementData->RangeDMaxMilliMeter; |
2521 |
LastRangeDataBuffer.MeasurementTimeUsec = |
2522 |
pRangingMeasurementData->MeasurementTimeUsec; |
2523 |
LastRangeDataBuffer.SignalRateRtnMegaCps = |
2524 |
pRangingMeasurementData->SignalRateRtnMegaCps; |
2525 |
LastRangeDataBuffer.AmbientRateRtnMegaCps = |
2526 |
pRangingMeasurementData->AmbientRateRtnMegaCps; |
2527 |
LastRangeDataBuffer.EffectiveSpadRtnCount = |
2528 |
pRangingMeasurementData->EffectiveSpadRtnCount; |
2529 |
LastRangeDataBuffer.RangeStatus = |
2530 |
pRangingMeasurementData->RangeStatus; |
2531 |
|
2532 |
PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); |
2533 |
} |
2534 |
|
2535 |
LOG_FUNCTION_END(Status); |
2536 |
return Status;
|
2537 |
} |
2538 |
|
2539 |
VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, |
2540 |
FixPoint1616_t *pMeasurementRefSignal) |
2541 |
{ |
2542 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2543 |
uint8_t SignalRefClipLimitCheckEnable = 0;
|
2544 |
LOG_FUNCTION_START("");
|
2545 |
|
2546 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
2547 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
2548 |
&SignalRefClipLimitCheckEnable); |
2549 |
if (SignalRefClipLimitCheckEnable != 0) { |
2550 |
*pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); |
2551 |
} else {
|
2552 |
Status = VL53L0X_ERROR_INVALID_COMMAND; |
2553 |
} |
2554 |
LOG_FUNCTION_END(Status); |
2555 |
|
2556 |
return Status;
|
2557 |
} |
2558 |
|
2559 |
VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, |
2560 |
VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
2561 |
{ |
2562 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
2563 |
LOG_FUNCTION_START("");
|
2564 |
|
2565 |
LOG_FUNCTION_END(Status); |
2566 |
return Status;
|
2567 |
} |
2568 |
|
2569 |
VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, |
2570 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
2571 |
{ |
2572 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2573 |
|
2574 |
LOG_FUNCTION_START("");
|
2575 |
|
2576 |
/* This function will do a complete single ranging
|
2577 |
* Here we fix the mode! */
|
2578 |
Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); |
2579 |
|
2580 |
if (Status == VL53L0X_ERROR_NONE)
|
2581 |
Status = VL53L0X_PerformSingleMeasurement(Dev); |
2582 |
|
2583 |
|
2584 |
if (Status == VL53L0X_ERROR_NONE)
|
2585 |
Status = VL53L0X_GetRangingMeasurementData(Dev, |
2586 |
pRangingMeasurementData); |
2587 |
|
2588 |
|
2589 |
if (Status == VL53L0X_ERROR_NONE)
|
2590 |
Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
2591 |
|
2592 |
|
2593 |
LOG_FUNCTION_END(Status); |
2594 |
return Status;
|
2595 |
} |
2596 |
|
2597 |
VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, |
2598 |
uint8_t NumberOfROIZones) |
2599 |
{ |
2600 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2601 |
|
2602 |
LOG_FUNCTION_START("");
|
2603 |
|
2604 |
if (NumberOfROIZones != 1) |
2605 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
2606 |
|
2607 |
|
2608 |
LOG_FUNCTION_END(Status); |
2609 |
return Status;
|
2610 |
} |
2611 |
|
2612 |
VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, |
2613 |
uint8_t *pNumberOfROIZones) |
2614 |
{ |
2615 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2616 |
|
2617 |
LOG_FUNCTION_START("");
|
2618 |
|
2619 |
*pNumberOfROIZones = 1;
|
2620 |
|
2621 |
LOG_FUNCTION_END(Status); |
2622 |
return Status;
|
2623 |
} |
2624 |
|
2625 |
VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, |
2626 |
uint8_t *pMaxNumberOfROIZones) |
2627 |
{ |
2628 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2629 |
|
2630 |
LOG_FUNCTION_START("");
|
2631 |
|
2632 |
*pMaxNumberOfROIZones = 1;
|
2633 |
|
2634 |
LOG_FUNCTION_END(Status); |
2635 |
return Status;
|
2636 |
} |
2637 |
|
2638 |
/* End Group PAL Measurement Functions */
|
2639 |
|
2640 |
VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
2641 |
VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, |
2642 |
VL53L0X_InterruptPolarity Polarity) |
2643 |
{ |
2644 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2645 |
uint8_t data; |
2646 |
|
2647 |
LOG_FUNCTION_START("");
|
2648 |
|
2649 |
if (Pin != 0) { |
2650 |
Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
2651 |
} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { |
2652 |
if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
2653 |
data = 0x10;
|
2654 |
else
|
2655 |
data = 1;
|
2656 |
|
2657 |
Status = VL53L0X_WrByte(Dev, |
2658 |
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); |
2659 |
|
2660 |
} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) { |
2661 |
|
2662 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
2663 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
2664 |
|
2665 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
2666 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
2667 |
Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); |
2668 |
|
2669 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); |
2670 |
Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); |
2671 |
Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); |
2672 |
|
2673 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); |
2674 |
Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); |
2675 |
|
2676 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); |
2677 |
Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); |
2678 |
|
2679 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
2680 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
2681 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
2682 |
|
2683 |
} else {
|
2684 |
|
2685 |
if (Status == VL53L0X_ERROR_NONE) {
|
2686 |
switch (Functionality) {
|
2687 |
case VL53L0X_GPIOFUNCTIONALITY_OFF:
|
2688 |
data = 0x00;
|
2689 |
break;
|
2690 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
|
2691 |
data = 0x01;
|
2692 |
break;
|
2693 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
|
2694 |
data = 0x02;
|
2695 |
break;
|
2696 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
|
2697 |
data = 0x03;
|
2698 |
break;
|
2699 |
case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
|
2700 |
data = 0x04;
|
2701 |
break;
|
2702 |
default:
|
2703 |
Status = |
2704 |
VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
2705 |
} |
2706 |
} |
2707 |
|
2708 |
if (Status == VL53L0X_ERROR_NONE)
|
2709 |
Status = VL53L0X_WrByte(Dev, |
2710 |
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); |
2711 |
|
2712 |
if (Status == VL53L0X_ERROR_NONE) {
|
2713 |
if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
2714 |
data = 0;
|
2715 |
else
|
2716 |
data = (uint8_t)(1 << 4); |
2717 |
|
2718 |
Status = VL53L0X_UpdateByte(Dev, |
2719 |
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
|
2720 |
} |
2721 |
|
2722 |
if (Status == VL53L0X_ERROR_NONE)
|
2723 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
2724 |
Pin0GpioFunctionality, Functionality); |
2725 |
|
2726 |
if (Status == VL53L0X_ERROR_NONE)
|
2727 |
Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
2728 |
|
2729 |
} |
2730 |
|
2731 |
LOG_FUNCTION_END(Status); |
2732 |
return Status;
|
2733 |
} |
2734 |
|
2735 |
VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
2736 |
VL53L0X_DeviceModes *pDeviceMode, |
2737 |
VL53L0X_GpioFunctionality *pFunctionality, |
2738 |
VL53L0X_InterruptPolarity *pPolarity) |
2739 |
{ |
2740 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2741 |
VL53L0X_GpioFunctionality GpioFunctionality; |
2742 |
uint8_t data; |
2743 |
|
2744 |
LOG_FUNCTION_START("");
|
2745 |
|
2746 |
/* pDeviceMode not managed by Ewok it return the current mode */
|
2747 |
|
2748 |
Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode); |
2749 |
|
2750 |
if (Status == VL53L0X_ERROR_NONE) {
|
2751 |
if (Pin != 0) { |
2752 |
Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
2753 |
} else {
|
2754 |
Status = VL53L0X_RdByte(Dev, |
2755 |
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); |
2756 |
} |
2757 |
} |
2758 |
|
2759 |
if (Status == VL53L0X_ERROR_NONE) {
|
2760 |
switch (data & 0x07) { |
2761 |
case 0x00: |
2762 |
GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF; |
2763 |
break;
|
2764 |
case 0x01: |
2765 |
GpioFunctionality = |
2766 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; |
2767 |
break;
|
2768 |
case 0x02: |
2769 |
GpioFunctionality = |
2770 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; |
2771 |
break;
|
2772 |
case 0x03: |
2773 |
GpioFunctionality = |
2774 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; |
2775 |
break;
|
2776 |
case 0x04: |
2777 |
GpioFunctionality = |
2778 |
VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY; |
2779 |
break;
|
2780 |
default:
|
2781 |
Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
2782 |
} |
2783 |
} |
2784 |
|
2785 |
if (Status == VL53L0X_ERROR_NONE)
|
2786 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, |
2787 |
&data); |
2788 |
|
2789 |
if (Status == VL53L0X_ERROR_NONE) {
|
2790 |
if ((data & (uint8_t)(1 << 4)) == 0) |
2791 |
*pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW; |
2792 |
else
|
2793 |
*pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH; |
2794 |
} |
2795 |
|
2796 |
if (Status == VL53L0X_ERROR_NONE) {
|
2797 |
*pFunctionality = GpioFunctionality; |
2798 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, |
2799 |
GpioFunctionality); |
2800 |
} |
2801 |
|
2802 |
LOG_FUNCTION_END(Status); |
2803 |
return Status;
|
2804 |
} |
2805 |
|
2806 |
VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, |
2807 |
VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, |
2808 |
FixPoint1616_t ThresholdHigh) |
2809 |
{ |
2810 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2811 |
uint16_t Threshold16; |
2812 |
LOG_FUNCTION_START("");
|
2813 |
|
2814 |
/* no dependency on DeviceMode for Ewok */
|
2815 |
/* Need to divide by 2 because the FW will apply a x2 */
|
2816 |
Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); |
2817 |
Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, Threshold16); |
2818 |
|
2819 |
if (Status == VL53L0X_ERROR_NONE) {
|
2820 |
/* Need to divide by 2 because the FW will apply a x2 */
|
2821 |
Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); |
2822 |
Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
2823 |
Threshold16); |
2824 |
} |
2825 |
|
2826 |
LOG_FUNCTION_END(Status); |
2827 |
return Status;
|
2828 |
} |
2829 |
|
2830 |
VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, |
2831 |
VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, |
2832 |
FixPoint1616_t *pThresholdHigh) |
2833 |
{ |
2834 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2835 |
uint16_t Threshold16; |
2836 |
LOG_FUNCTION_START("");
|
2837 |
|
2838 |
/* no dependency on DeviceMode for Ewok */
|
2839 |
|
2840 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16); |
2841 |
/* Need to multiply by 2 because the FW will apply a x2 */
|
2842 |
*pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
2843 |
|
2844 |
if (Status == VL53L0X_ERROR_NONE) {
|
2845 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
2846 |
&Threshold16); |
2847 |
/* Need to multiply by 2 because the FW will apply a x2 */
|
2848 |
*pThresholdHigh = |
2849 |
(FixPoint1616_t)((0x00fff & Threshold16) << 17); |
2850 |
} |
2851 |
|
2852 |
LOG_FUNCTION_END(Status); |
2853 |
return Status;
|
2854 |
} |
2855 |
|
2856 |
VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, |
2857 |
uint32_t *pStopStatus) |
2858 |
{ |
2859 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2860 |
uint8_t Byte = 0;
|
2861 |
LOG_FUNCTION_START("");
|
2862 |
|
2863 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2864 |
|
2865 |
if (Status == VL53L0X_ERROR_NONE)
|
2866 |
Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
|
2867 |
|
2868 |
if (Status == VL53L0X_ERROR_NONE)
|
2869 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); |
2870 |
|
2871 |
*pStopStatus = Byte; |
2872 |
|
2873 |
if (Byte == 0) { |
2874 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
2875 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2876 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
2877 |
Status = VL53L0X_WrByte(Dev, 0x91,
|
2878 |
PALDevDataGet(Dev, StopVariable)); |
2879 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
2880 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2881 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
2882 |
} |
2883 |
|
2884 |
LOG_FUNCTION_END(Status); |
2885 |
return Status;
|
2886 |
} |
2887 |
|
2888 |
/* Group PAL Interrupt Functions */
|
2889 |
VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
2890 |
{ |
2891 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2892 |
uint8_t LoopCount; |
2893 |
uint8_t Byte; |
2894 |
LOG_FUNCTION_START("");
|
2895 |
|
2896 |
/* clear bit 0 range interrupt, bit 1 error interrupt */
|
2897 |
LoopCount = 0;
|
2898 |
do {
|
2899 |
Status = VL53L0X_WrByte(Dev, |
2900 |
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
2901 |
Status |= VL53L0X_WrByte(Dev, |
2902 |
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
|
2903 |
Status |= VL53L0X_RdByte(Dev, |
2904 |
VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
2905 |
LoopCount++; |
2906 |
} while (((Byte & 0x07) != 0x00) |
2907 |
&& (LoopCount < 3)
|
2908 |
&& (Status == VL53L0X_ERROR_NONE)); |
2909 |
|
2910 |
|
2911 |
if (LoopCount >= 3) |
2912 |
Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; |
2913 |
|
2914 |
LOG_FUNCTION_END(Status); |
2915 |
return Status;
|
2916 |
} |
2917 |
|
2918 |
VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, |
2919 |
uint32_t *pInterruptMaskStatus) |
2920 |
{ |
2921 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2922 |
uint8_t Byte; |
2923 |
LOG_FUNCTION_START("");
|
2924 |
|
2925 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
2926 |
*pInterruptMaskStatus = Byte & 0x07;
|
2927 |
|
2928 |
if (Byte & 0x18) |
2929 |
Status = VL53L0X_ERROR_RANGE_ERROR; |
2930 |
|
2931 |
LOG_FUNCTION_END(Status); |
2932 |
return Status;
|
2933 |
} |
2934 |
|
2935 |
VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
2936 |
{ |
2937 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
2938 |
LOG_FUNCTION_START("");
|
2939 |
|
2940 |
/* not implemented for VL53L0X */
|
2941 |
|
2942 |
LOG_FUNCTION_END(Status); |
2943 |
return Status;
|
2944 |
} |
2945 |
|
2946 |
/* End Group PAL Interrupt Functions */
|
2947 |
|
2948 |
/* Group SPAD functions */
|
2949 |
|
2950 |
VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
2951 |
uint16_t SpadAmbientDamperThreshold) |
2952 |
{ |
2953 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2954 |
LOG_FUNCTION_START("");
|
2955 |
|
2956 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2957 |
Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold);
|
2958 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2959 |
|
2960 |
LOG_FUNCTION_END(Status); |
2961 |
return Status;
|
2962 |
} |
2963 |
|
2964 |
VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
2965 |
uint16_t *pSpadAmbientDamperThreshold) |
2966 |
{ |
2967 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2968 |
LOG_FUNCTION_START("");
|
2969 |
|
2970 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2971 |
Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold);
|
2972 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2973 |
|
2974 |
LOG_FUNCTION_END(Status); |
2975 |
return Status;
|
2976 |
} |
2977 |
|
2978 |
VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
2979 |
uint16_t SpadAmbientDamperFactor) |
2980 |
{ |
2981 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2982 |
uint8_t Byte; |
2983 |
LOG_FUNCTION_START("");
|
2984 |
|
2985 |
Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF);
|
2986 |
|
2987 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
2988 |
Status |= VL53L0X_WrByte(Dev, 0x42, Byte);
|
2989 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
2990 |
|
2991 |
LOG_FUNCTION_END(Status); |
2992 |
return Status;
|
2993 |
} |
2994 |
|
2995 |
VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
2996 |
uint16_t *pSpadAmbientDamperFactor) |
2997 |
{ |
2998 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
2999 |
uint8_t Byte; |
3000 |
LOG_FUNCTION_START("");
|
3001 |
|
3002 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
3003 |
Status |= VL53L0X_RdByte(Dev, 0x42, &Byte);
|
3004 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
3005 |
*pSpadAmbientDamperFactor = (uint16_t)Byte; |
3006 |
|
3007 |
LOG_FUNCTION_END(Status); |
3008 |
return Status;
|
3009 |
} |
3010 |
|
3011 |
/* END Group SPAD functions */
|
3012 |
|
3013 |
/*****************************************************************************
|
3014 |
* Internal functions
|
3015 |
*****************************************************************************/
|
3016 |
|
3017 |
VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count, |
3018 |
uint8_t isApertureSpads) |
3019 |
{ |
3020 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
3021 |
LOG_FUNCTION_START("");
|
3022 |
|
3023 |
Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads); |
3024 |
|
3025 |
LOG_FUNCTION_END(Status); |
3026 |
|
3027 |
return Status;
|
3028 |
} |
3029 |
|
3030 |
VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount, |
3031 |
uint8_t *pIsApertureSpads) |
3032 |
{ |
3033 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
3034 |
LOG_FUNCTION_START("");
|
3035 |
|
3036 |
Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); |
3037 |
|
3038 |
LOG_FUNCTION_END(Status); |
3039 |
|
3040 |
return Status;
|
3041 |
} |
3042 |
|
3043 |
VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, |
3044 |
uint32_t *refSpadCount, uint8_t *isApertureSpads) |
3045 |
{ |
3046 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
3047 |
LOG_FUNCTION_START("");
|
3048 |
|
3049 |
Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, |
3050 |
isApertureSpads); |
3051 |
|
3052 |
LOG_FUNCTION_END(Status); |
3053 |
|
3054 |
return Status;
|
3055 |
} |